The nomad driver controls the Nomadics NOMAD200 robot, and should be easily modified to support close relatives.

This driver uses the Nomad-specific nomad interface to talk over a serial port to a robot running Nomadics' robot server program. The nomad interface gives access to most of the Nomad's functionality. This driver also has a set of companion drivers that provide generic (i.e. not robot-specific) Player interfaces. These are: nomad_position (provides position) and nomad_sonar (provides sonar). The companion drivers rely on the nomad driver to talk to the robot, so you MUST instantiate a nomad device in your config file, followed by the devices using the companion drivers. See below for an example config file umentation for the companion drivers for example configfiles.